I often underwrite the first draft of each chapter, but I always revise each chapter before going on to the next -- adding just those things you mention above. Also -- transitions. Who wants to stop to write a transition when some juicy scene is coming up? I go back and add that after the chapter is already written.

I am a complete underwriter. I always end up adding words to my story (plus cutting) but I have to beef up details, backstory, world building, pacing, internal thoughts just about everything. but the biggest thing is fleshing out scenes for more emotion.